CN103029119A - Three-RDOF (rotational degree of freedom) parallel mechanism - Google Patents
Three-RDOF (rotational degree of freedom) parallel mechanism Download PDFInfo
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- CN103029119A CN103029119A CN2012105136776A CN201210513677A CN103029119A CN 103029119 A CN103029119 A CN 103029119A CN 2012105136776 A CN2012105136776 A CN 2012105136776A CN 201210513677 A CN201210513677 A CN 201210513677A CN 103029119 A CN103029119 A CN 103029119A
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Abstract
The invention discloses a three-RDOF (rotational degree of freedom) parallel mechanism, which comprises a fixed platform, a movable platform, and a first branch, a second branch and a third branch which are connected between the fixed platform and the movable platform, wherein the movable platform comprises an upper platform, a middle platform and a lower platform; a group of planar parallelogram structures is respectively arranged in the first and second branches; the plane where the planar parallelogram structure in the first branch is located intersects with the plane where the planar parallelogram structure in the second branch is located; centers of four hinges on the middle platform and the lower platform are coplanar; an intersection point of a connection line of centers of two hinges on the lower platform and a connection line of centers of two hinges on the middle platform pass through a revolution axis of a rotation pair between the middle platform and the lower platform; and through the rotation of master arms in the three branches, the rotation of the upper platform, the middle platform and the lower platform can be realized, and then three-dimensional rotation of the movable platform is realized. The three-RDOF parallel mechanism has the advantages of simplicity in construction, compactness in structure, small movement mass, convenience in assembly and easiness in control, and can be used on robot joints or machine tool accessories.
Description
Technical field
The invention belongs to mechanical field, particularly a kind of three-rotation freedom parallel mechanism without associated movement that can be applicable to joint of robot or machine tool accessories.
Background technology
At present, joint of robot adopts gear drive, series-mode frame to realize more, its complex structure, be difficult to install, manufacturing cost is high.Three Degree Of Freedom rotary head as machine tool accessories also mostly is the series connection form, and its moving-mass is large, and rigidity is relatively poor.
Summary of the invention
For above-mentioned prior art, the invention provides a kind of simple structure, compact conformation, without the parallel institution of the three-rotational-freedom of associated movement.
In order to solve the problems of the technologies described above, the technical scheme that a kind of three-rotation freedom parallel mechanism of the present invention is achieved is: comprise fixed platform, moving platform and connect the first branch, the second branch and the 3rd branch between described fixed platform and the moving platform; Described moving platform comprises upper mounting plate, middle platform and lower platform, be connected by revolute pair between described upper mounting plate and the described middle platform, be connected by revolute pair between described upper mounting plate and the described lower platform, the axis of rotation of two revolute pairs overlaps and perpendicular to the plane at described upper mounting plate, middle platform and lower platform place; Described the first branch comprises first master arm and two the first isometric slave arms, and described the first master arm is connected by revolute pair with described fixed platform, and provides power as driving pair for mechanism; One end of two the first slave arms is connected by revolute pair with described the first master arm respectively, and between two the first slave arms and the first master arm axis of rotation of revolute pair with the axis of rotation coplanar of revolute pair between described the first master arm and the fixed platform; The other end of two the first slave arms is connected by Three Degree Of Freedom spherical hinge or two degrees of freedom hook hinge with described lower platform; In the first branch, described the first master arm, two the first slave arms and lower platform consist of one group of plane parallel quadrilateral structure, thereby the restriction lower platform is along the revolute pair axis direction translational on described the first master arm; Described the second branch comprises second master arm and two the second isometric slave arms, and described the second master arm is connected by revolute pair with described fixed platform, and provides power as driving pair for mechanism; One end of two the second slave arms is connected by revolute pair with described the second master arm, and between two the second slave arms and the second master arm axis of rotation of revolute pair with the axis of rotation coplanar of revolute pair between described the second master arm and the fixed platform; The other end of described the second slave arm is connected by Three Degree Of Freedom spherical hinge or two degrees of freedom hook hinge with described middle platform; In the second branch, described the second master arm, two the second slave arms and middle platform consist of one group of plane parallel quadrilateral structure, thereby platform is along the revolute pair axis direction translational on described the second master arm in the restriction; Described the 3rd branch comprises the 3rd master arm, and an end of described the 3rd master arm is connected by revolute pair with described fixed platform, and provides power as driving pair for mechanism; The other end of described the 3rd master arm is connected by the two degrees of freedom hook hinge with described upper mounting plate; Described the first branch plane, inner plane parallelogram sturcutre place and described second branch's inner plane parallelogram sturcutre place Plane intersects, four hinge centers on described middle platform, the lower platform are coplanar, and on the described lower platform on the two hinge lines of centres and the described middle platform intersection point of the two hinge lines of centres by the axis of rotation of the revolute pair between described middle platform and the lower platform; Be subject to the restriction of the plane parallel quadrilateral structure in the first branch and the second branch, on the described lower platform on the two hinge lines of centres and the middle platform position of intersecting point of the two hinge lines of centres fix; Two degrees of freedom hook hinge center in described the 3rd branch overlaps with the intersection point of the two hinge lines of centres on the two hinge lines of centres on the described lower platform and the described middle platform; Rotation by the 3rd master arm in the second master arm and the 3rd branch in the first master arm, the second branch in the first branch can realize the rotation of upper mounting plate, middle platform and lower platform, and then realizes the Three dimensional rotation of moving platform.
Compared with prior art, the invention has the beneficial effects as follows:
Advantage and good effect that the present invention has are: moving platform adopts three platform structures, and the plane parallel quadrilateral structure in two branches is coupled together, and has limited the translational degree of freedom of moving platform, and can realize the centering rotation of moving platform.Simple structure of the present invention, compact conformation, moving-mass is little, is convenient to assembling, is easy to control, can be used for joint of robot or machine tool accessories.
Description of drawings
Fig. 1 is the overall structure schematic diagram of a kind of three-rotation freedom parallel mechanism of the present invention;
Fig. 2 is moving platform mechanism schematic diagram among the present invention;
Fig. 3 is the first branched structure schematic diagram among the present invention;
Fig. 4 is the second branched structure schematic diagram among the present invention;
Fig. 5 is the 3rd branch's schematic diagram among the present invention.
Among the figure: 1-fixed platform, 2-moving platform, 2a-upper mounting plate, platform among the 2b-, 2c-lower platform, 3 first branches, 3a-the first master arm, 3b, 3c-the first slave arm, 4-the second branch, 4a-the second master arm, 4b, 4c-the second slave arm, 5-the 3rd branch, 5a-the 3rd master arm.
The specific embodiment
Below in conjunction with the specific embodiment the present invention is described in further detail.
As shown in Figure 1, a kind of three-rotation freedom parallel mechanism of the present invention comprises fixed platform 1, moving platform 2 and connects the first branch 3, the second branch 4 and the 3rd branch 5 between described fixed platform 1 and the moving platform 2.
As shown in Figure 2, described moving platform 2 comprises upper mounting plate 2a, middle platform 2b and lower platform 2c, be connected by revolute pair between described upper mounting plate 2a and the described middle platform 2b, be connected by revolute pair between described upper mounting plate 2a and the described lower platform 2c, the axis of rotation of two revolute pairs overlaps and perpendicular to the plane at described upper mounting plate 2a, middle platform 2b and lower platform 2c place, radial many T-shaped grooves in the center that is provided with above the described upper mounting plate 2a.
As shown in Figure 3, described the first branch 3 comprises first a master arm 3a and two isometric the first slave arm 3b, 3c, and described the first master arm 3a and described fixed platform 1 are connected by revolute pair, and provide power as driving pair for mechanism; The end of two the first slave arm 3b, 3c is connected by revolute pair with described the first master arm 3a respectively, and between two the first slave arm 3b, 3c and the first master arm 3a axis of rotation of revolute pair with the axis of rotation coplanar of revolute pair between described the first master arm 3a and the fixed platform 1; Two the first slave arm 3b, the other end of 3c is connected by Three Degree Of Freedom spherical hinge or two degrees of freedom hook hinge with described lower platform 2c, if two the first slave arm 3b, adopt the two degrees of freedom hook hinge to be connected between 3c and the described lower platform 2c, the axis that one of them two degrees of freedom hook hinge links to each other with lower platform 2c (namely, the nearly frame axis of this two degrees of freedom hook hinge) center by upper another two degrees of freedom hook hinge of described lower platform 2c, simultaneously, each two degrees of freedom hook hinge and the connection axis that is connected the first slave arm that connects (that is, the frame axis far away of this two degrees of freedom hook hinge) are parallel to the revolute pair axis of this first slave arm one end.In the first branch 3, described the first master arm 3a, two the first slave arm 3b, 3c and lower platform 2c consist of one group of plane parallel quadrilateral structure, thereby restriction lower platform 2c is along the revolute pair axis direction translational on described the first master arm 3a.
As shown in Figure 4, described the second branch 4 comprises second a master arm 4a and two isometric the second slave arm 4b, 4c, and described the second master arm 4a and described fixed platform 1 are connected by revolute pair, and provide power as driving pair for mechanism; The end of two the second slave arm 4b, 4c is connected by revolute pair with described the second master arm 4a, and between two the second slave arm 4b, 4c and the second master arm 4a axis of rotation of revolute pair with the axis of rotation coplanar of revolute pair between described the second master arm 4a and the fixed platform 1; Described the second slave arm 4b, the other end of 4c is connected by Three Degree Of Freedom spherical hinge or two degrees of freedom hook hinge with described middle platform 2b, if two the second slave arm 4b, adopt the two degrees of freedom hook hinge to be connected between 4c and the described middle platform 2b, the axis that one of them two degrees of freedom hook hinge links to each other with middle platform 2b (namely, the nearly frame axis of this two degrees of freedom hook hinge) center by upper another two degrees of freedom hook hinge of described middle platform 2b, simultaneously, each two degrees of freedom hook hinge and the revolute pair axis that is attached thereto axis (that is, the frame axis far away of this two degrees of freedom hook hinge) that the second slave arm of connecing links to each other and is parallel to this second slave arm one end.In the second branch 4, described the second master arm 4a, two the second slave arm 4b, 4c and middle platform 2b consist of one group of plane parallel quadrilateral structure, thereby platform 2b is along the revolute pair axis direction translational on described the second master arm 4a in the restriction.
As shown in Figure 5, described the 3rd branch 5 comprises the 3rd a master arm 5a, and the end of described the 3rd master arm 5a and described fixed platform 1 are connected by revolute pair, and provide power as driving pair for mechanism; The other end of described the 3rd master arm 5a is connected by the two degrees of freedom hook hinge with described upper mounting plate 2a;
Described the first branch 3 planes, inner plane parallelogram sturcutre place and described the second branch 4 inner plane parallelogram sturcutre place Plane intersects, four hinges on described middle platform 2b, the lower platform 2c (Three Degree Of Freedom or two degrees of freedom hinge) center is coplanar, and the intersection point of the upper two hinge lines of centres of described lower platform 2c and the upper two hinge lines of centres of described middle platform 2b is by the axis of rotation of the revolute pair between described middle platform 2b and the lower platform 2c; Be subject to the restriction of the plane parallel quadrilateral structure in the first branch 3 and the second branch 4, the position of intersecting point of the upper two hinge lines of centres of described lower platform 2c and the upper two hinge lines of centres of middle platform 2b is fixed; Two degrees of freedom hook hinge center in described the 3rd branch 5 overlaps with the intersection point of the upper two hinge lines of centres of described lower platform 2c with the upper two hinge lines of centres of described middle platform 2b; Rotation by the 3rd master arm 5a in the second master arm 4a and the 3rd branch 5 in the first master arm 3a, the second branch 4 in the first branch 3 can realize the rotation of upper mounting plate 2a, middle platform 2b and lower platform 2c, and then realize the Three dimensional rotation of moving platform 2.
The present invention compared with prior art, its difference is:
Moving platform among the present invention adopts three platform structures, and the plane parallel quadrilateral structure in two branches is coupled together, and has limited the translational degree of freedom of moving platform.By two groups of parallelogram sturcutre transmissions, realize that the centering of moving platform is rotated.The present invention can be arranged symmetrically with branch's side chain, simple structure, and compact conformation, moving-mass is little, is convenient to assembling, is easy to control.
Although top invention has been described in conjunction with figure; but the present invention is not limited to the above-mentioned specific embodiment; the above-mentioned specific embodiment only is schematic; rather than restrictive; those of ordinary skill in the art is under enlightenment of the present invention; in the situation that do not break away from aim of the present invention, can also make a lot of distortion, these all belong within the protection of the present invention.
Claims (2)
1. three-rotation freedom parallel mechanism, comprise fixed platform (1), moving platform (2) and connect described fixed platform (1) and moving platform (2) between the first branch (3), the second branch (4) and the 3rd branch (5); It is characterized in that:
Described moving platform (2) comprises upper mounting plate (2a), middle platform (2b) and lower platform (2c), be connected by revolute pair between described upper mounting plate (2a) and the described middle platform (2b), be connected by revolute pair between described upper mounting plate (2a) and the described lower platform (2c), the axis of rotation of two revolute pairs overlaps and perpendicular to the plane at described upper mounting plate (2a), middle platform (2b) and lower platform (2c) place;
Described the first branch (3) comprises first master arm (3a) and two the first isometric slave arms (3b, 3c), and described the first master arm (3a) is connected by revolute pair with described fixed platform (1), and provides power as driving pair for mechanism; One end of two the first slave arms (3b, 3c) is connected by revolute pair with described the first master arm (3a) respectively, and between two the first slave arms (3b, 3c) and the first master arm (3a) axis of rotation of revolute pair with the axis of rotation coplanar of revolute pair between described the first master arm (3a) and the fixed platform (1); The other end of two the first slave arms (3b, 3c) is connected by Three Degree Of Freedom spherical hinge or two degrees of freedom hook hinge with described lower platform (2c); In the first branch (3), described the first master arm (3a), two the first slave arms (3b, 3c) and lower platform (2c) consist of one group of plane parallel quadrilateral structure, thereby restriction lower platform (2c) is along the revolute pair axis direction translational on described the first master arm (3a);
Described the second branch (4) comprises second master arm (4a) and two the second isometric slave arms (4b, 4c), and described the second master arm (4a) is connected by revolute pair with described fixed platform (1), and provides power as driving pair for mechanism; One end of two the second slave arms (4b, 4c) is connected by revolute pair with described the second master arm (4a), and between two the second slave arms (4b, 4c) and the second master arm (4a) axis of rotation of revolute pair with the axis of rotation coplanar of revolute pair between described the second master arm (4a) and the fixed platform (1); The other end of described the second slave arm (4b, 4c) is connected by Three Degree Of Freedom spherical hinge or two degrees of freedom hook hinge with described middle platform (2b); In the second branch (4), described the second master arm (4a), two the second slave arms (4b, 4c) and middle platform (2b) consist of one group of plane parallel quadrilateral structure, thereby platform (2b) is along the revolute pair axis direction translational on described the second master arm (4a) in the restriction;
Described the 3rd branch (5) comprises the 3rd master arm (5a), and an end of described the 3rd master arm (5a) is connected by revolute pair with described fixed platform (1), and provides power as driving pair for mechanism; The other end of described the 3rd master arm (5a) is connected by the two degrees of freedom hook hinge with described upper mounting plate (2a);
Described the first branch (3) plane, inner plane parallelogram sturcutre place and described the second branch (4) inner plane parallelogram sturcutre place Plane intersects, four hinge centers on described middle platform (2b), the lower platform (2c) are coplanar, and the intersection point of the upper two hinge lines of centres of described lower platform (2c) and the upper two hinge lines of centres of described middle platform (2b) is by the axis of rotation of the revolute pair between described middle platform (2b) and the lower platform (2c); Be subject to the restriction of the plane parallel quadrilateral structure in the first branch (3) and the second branch (4), the position of intersecting point of the upper two hinge lines of centres of described lower platform (2c) and the upper two hinge lines of centres of middle platform (2b) is fixed; Two degrees of freedom hook hinge center in described the 3rd branch (5) overlaps with the intersection point of the upper two hinge lines of centres of described middle platform (2b) with the upper two hinge lines of centres of described lower platform (2c); Rotation by the 3rd master arm (5a) in the second master arm (4a) and the 3rd branch (5) in the first master arm (3a), the second branch (4) in the first branch (3), can realize the rotation of upper mounting plate (2a), middle platform (2b) and lower platform (2c), and then realize the Three dimensional rotation of moving platform (2).
2. according to right 1 described three-rotation freedom parallel mechanism, it is characterized in that: adopt the two degrees of freedom hook hinge to be connected between two the first slave arms (3b, 3c) and the described lower platform (2c), the axis that one of them two degrees of freedom hook hinge links to each other with lower platform (2c) is by the center of upper another two degrees of freedom hook hinge of described lower platform (2c), simultaneously, each two degrees of freedom hook hinge and be attached thereto the connecting axle line parallel of the first slave arm that connects in the revolute pair axis of this first slave arm one end;
Adopt the two degrees of freedom hook hinge to be connected between two the second slave arms (4b, 4c) and the described middle platform (2b), the axis that one of them two degrees of freedom hook hinge links to each other with middle platform (2b) is by the center of upper another two degrees of freedom hook hinge of described middle platform (2b), simultaneously, each two degrees of freedom hook hinge and the revolute pair axis that is attached thereto axis that the second slave arm of connecing links to each other and is parallel to this second slave arm one end.
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| CN201210513677.6A CN103029119B (en) | 2012-12-04 | 2012-12-04 | Three-RDOF (rotational degree of freedom) parallel mechanism |
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| CN201210513677.6A CN103029119B (en) | 2012-12-04 | 2012-12-04 | Three-RDOF (rotational degree of freedom) parallel mechanism |
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| CN103029119A true CN103029119A (en) | 2013-04-10 |
| CN103029119B CN103029119B (en) | 2015-04-01 |
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| CN103816029A (en) * | 2014-03-08 | 2014-05-28 | 河北联合大学 | Six-freedom degree leg rehabilitation training robot |
| CN106392677A (en) * | 2016-10-07 | 2017-02-15 | 江苏乔扬数控设备股份有限公司 | Stereoscopic machining method used for gantry type machining center machine |
| US20170245949A1 (en) * | 2014-10-15 | 2017-08-31 | Cambridge Medical Robotics Limited | Articulation for surgical roboter |
| CN112349191A (en) * | 2020-10-14 | 2021-02-09 | 北京众绘虚拟现实技术研究院有限公司 | Parallel force feedback mechanism for laparoscopic surgery simulation |
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Cited By (7)
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| CN112349191A (en) * | 2020-10-14 | 2021-02-09 | 北京众绘虚拟现实技术研究院有限公司 | Parallel force feedback mechanism for laparoscopic surgery simulation |
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